Non-repetitive trajectory tracking for joint position constrained robot manipulators using iterative learning control

2016 ◽  
Author(s):  
Xu Jin
Keyword(s):  
Trajectory Tracking ◽  
Iterative Learning Control ◽  
Robot Manipulators ◽  
Learning Control ◽  
Iterative Learning ◽  
Joint Position ◽  
Constrained Robot

High order iterative learning control to solve the trajectory tracking problem for robot manipulators using Lyapunov theory

2018 ◽  
Vol 40 (15) ◽  
pp. 4105-4114 ◽  
Author(s):  
Farah Bouakrif ◽  
Michel Zasadzinski
Keyword(s):  
Trajectory Tracking ◽  
Iterative Learning Control ◽  
Robot Manipulators ◽  
Learning Control ◽  
Iterative Learning ◽  
High Order ◽  
Lyapunov Theory ◽  
Time Interval ◽  
Tracking Problem ◽  
Definite Sequence

This paper deals with Iterative Learning Control (ILC) design to solve the trajectory tracking problem for rigid robot manipulators subject to external disturbances, and performing repetitive tasks. A high order ILC scheme is synthetized; this controller contains the information (errors) of several iterations and not only of one iteration. It has been shown that the closed loop system (robot plus controller) is asymptotically stable, over the whole finite time interval, when the iteration number tends to infinity. This proof is based upon the use of a Lyapunov-like positive definite sequence, which is shown to be monotonically decreasing under the proposed controller scheme. Finally, simulation results on two-link manipulator are provided to illustrate the effectiveness of the proposed controller.

Trajectory Tracking of a One-Link Flexible Arm via Iterative Learning Control

2020 ◽  
Author(s):  
Michele Pierallini ◽  
Franco Angelini ◽  
Riccardo Mengacci ◽  
Alessandro Palleschi ◽  
Antonio Bicchi ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Flexible Arm

scholarly journals A Nested-Loop Iterative Learning Control for Robot Manipulators

2019 ◽  
Vol 52 (15) ◽  
pp. 358-363
Author(s):  
Yu-Hsiu Lee ◽  
Sheng-Chieh Hsu ◽  
Yan-Yi Du ◽  
Jwu-Sheng Hu ◽  
Tsu-Chin Tsao
Keyword(s):  
Iterative Learning Control ◽  
Robot Manipulators ◽  
Learning Control ◽  
Iterative Learning ◽  
Nested Loop
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